Jireh SKOOT-X User manual

X
Automated Digital Radiography
EB0162 Rev 00

PAGE i of vi EB0162 Rev 00
SAFETY WARNINGS / PRECAUTIONS
WARNING! The SKOOT • Xis designed for a specic use. Using
the SKOOT • Xoutside of its intended use is dangerous. Failure to comply
with the warnings, instructions, and specications in this manual could
result in SEVERE INJURY or DEATH. Read and understand this manual
before using.
KEEP THIS MANUAL – DO NOT LOSE
THIS MANUAL IS PART OF THE SKOOT • X SYSTEM AND MUST BE RETAINED FOR
THE LIFE OF THE PRODUCT. PASS ON TO SUBSEQUENT OWNERS.
Ensure any amendments are incorporated with this document.
WARNING! ELECTRICAL CORDS CAN BE HAZARDOUS.
Misuse can result in FIRE or DEATH by ELECTRICAL SHOCK. Inspect
thoroughly before each use. Do NOT use if damaged. Do NOT use when
wet. Keep away from water. Do NOT drive, drag or place objects over cord.
WARNING! Do NOT operate scanner in an explosive environment.
Do NOT operate scanner in the presence of volatile substances.
WARNING! If this product is to be used with any Child Products
listed in (Chapter 2.2), be sure to read and comply with the warnings,
instructions, and specications in the Child Product’s User Manual(s).
WARNING! DO NOT DISASSEMBLE. No user-serviceable parts.
Disassembling any of the components in this product, beyond the instructions
in this user manual, could void the regulatory certications and/or effect the
safety of the product.

PAGE ii of vi
The WEEE symbol indicates that the product must not be disposed of as
unsorted municipal waste, but should be collected separately.
(see Disposal on page 86 for additional details).
CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power
before connection or disconnecting. Permanent damage to electronics could
occur.
EMERGENCY STOP. This symbol indicates emergency stop button.
WARNING! MAGNETIC MATERIAL. The wheels of the crawler
produce an extremely strong magnetic eld which may cause failure or
permanent damage to items such as watches, memory devices, CRT
monitors, medical devices or other electronics.
Tools, magnets and metal objects can cut, pinch or entrap hands and
ngers. HANDLE WITH CARE.
People with pacemakers or ICD’s must stay at least 25 cm (10 in) away.
WARNING! MAGNETIC MATERIAL. The handheld controller
produces a strong magnetic eld which may cause failure or permanent
damage to items such as watches, memory devices, CRT monitors,
medical devices or other electronics.
People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.
WARNING! MAGNETIC MATERIAL. The installation/removal
mat (see“Installation/Removal Mat”on page 20) contains magnetic material.
People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.
CAUTION! DO NOT operate the SKOOT • X crawler on an
inspection surface which is electrically connected to a component that is
being welded.

PAGE iii of vi EB0162 Rev 00
TABLE OF CONTENTS
Chapter1 Identification 2
1.1. Product Brand 2
1.2. Manufacturer 2
1.3. Compliance Declarations 2
1.3.1. ISED Emissions Compliance (Canada) 2
1.3.2. FCC Suppliers Declaration of Conformity (United States) 2
1.3.3. European Union CE Declarations 3
1.3.4. UKCA Declarations 3
Chapter2 Product Specifications 4
2.1. Base SKOOT•X System 4
2.1.1. Intended Use 4
2.1.1.1 Operating Limits 4
2.1.1.2 Operating Environment 4
2.1.1.3 User 5
2.1.2. Unintended Use 5
2.1.3. Dimensions and Weight 5
2.1.4. Power Requirements 6
2.1.5. Environmental Sealing 6
2.1.6. Performance Specifications 6
2.1.7. Encoder Interface Specifications 7
2.2. Child Products 7
2.2.1. Battery Kit 7
Chapter3 Definitions 8
3.1. Definition of Symbols 8
3.2. Safety Symbols 8
3.3. Safety Signal Words 9
Chapter4 System components 10
4.1. Component Identification 10

PAGE iv of vi
4.1.1. Base System 10
4.1.2. Child Products 11
4.2. Tools 12
4.2.1. Included Tools 12
4.3. Base System Components 12
4.3.1. Crawler - Chain System 12
4.3.2. Crawler - Magnetic System 13
4.3.2.1 Connections 14
4.3.2.2 Emergency O Button 14
4.3.3. Power Controller 15
4.3.3.1 AC/DC Power Supply 16
4.3.4. Handheld Controller 17
4.3.5. Umbilical 18
4.3.6. Auxiliary Cable 18
4.3.7. Detector Bracket 18
4.3.8. Source Cart 18
4.3.9. Chain Link 19
4.3.10. Red Dovetail Link 19
4.3.11. Buckle 19
4.3.12. Cable Management 19
4.3.13. Installation/Removal Mat 20
4.3.14. Tools 20
4.3.15. Cases 20
4.4. Child Products 20
4.4.1. Battery Kit 20
Chapter5 Preparation for Use 21
5.1. Preparation for Magnetic System Transportation 21
5.2. Preparation of Inspection Surface (Magnetic System) 21
5.3. Configurations 22
5.3.1. Chain System 22
5.3.2. Magnetic System 24
5.4. Crawler 26
5.4.1. Umbilical 26
5.4.2. Handle 26
5.4.3. Emergency O Button 27
5.4.4. Handheld Controller 28
5.4.5. Magnetic Mounts 28
5.5. Detector Bracket 29
5.5.1. Attaching Detector to the Detector Bracket 29
5.5.2. Mounting Detector Bracket to Crawler 30

PAGE v of vi EB0162 Rev 00
5.5.3. Positioning the Detector 32
5.5.4. Adjusting Detector Height 33
5.5.5. Adjusting the Detector Angle 33
5.6. Source Cart 34
5.6.1. Releasing the Mounting Plate 34
5.6.2. Attaching the Mounting Plate 34
5.6.3. Mounting Plate 35
5.7. Connecting Chain & Dovetail Links 36
5.7.1. Connecting Chain Links 36
5.7.2. Disconnecting Chain Links 36
5.7.3. Disconnecting the Red Dovetail Links 37
5.8. Cable Management 38
5.8.1. Cable Management Dovetail Mount 38
5.8.2. Cable Management Setup 38
5.8.3. Clamp Setup 39
5.9. Backpack 40
5.9.1. Mounting a Backpack 40
5.9.2. Using the backpack 41
Chapter6 Operation 42
6.1. System Startup 42
6.2. Placement of Crawler on Inspection Surface 44
6.2.1. Chain System 44
6.2.2. Magnetic System 49
6.2.2.2 Scanner Installation/Removal Mat Use 49
6.2.2.3 Detector Setup 51
6.2.2.4 Crawler Position 51
6.3. Operation 52
6.3.1. Handheld Controller Layout 52
6.3.1.1 Touchscreen 52
6.3.1.2 D-pad 53
6.3.1.3 Joysticks 53
6.3.2. Mode Select Screen 53
6.3.3. Jog Mode 54
6.3.4. Latched Jog Mode 55
6.3.5. 1 Axis Scan Mode 56
6.3.5.1 1 Axis Scan Setup Screen 56
6.3.5.2 1 Axis Scan Screen 57
6.3.6. System Utilities Screen 59
6.3.6.1 User Settings Screen 60
6.3.6.2 Diagnostics Screens 61

PAGE vi of vi
6.3.6.2.1. Detected Modules 61
6.3.6.2.2. System 1 62
6.3.6.2.3. System 2 63
6.3.6.2.4. System 3 63
6.3.6.2.5. Skoot-X 64
6.3.6.3 Touch Calibration Screen 65
6.3.6.4 Joystick Calibration Screen 66
6.3.6.5 Draw 67
6.3.7. High Internal Temperature Screen 67
Chapter7 Maintenance 69
7.1. Safety Precautions Before Maintenance 69
7.2. Cleaning 69
7.3. Maintenance Schedule 70
Chapter8 Troubleshooting 71
8.1. Startup Issues 71
8.1.1. Joystick O Centre 71
8.1.2. Checking Network 71
8.2. Startup Override 72
8.2.1. Scan Devices 73
8.2.2. Reset Parameters 74
8.2.3. System Parameters 74
8.2.4. Device Address 74
8.3. Additional Issues 75
Chapter9 Service and Repair 76
9.1. Technical Support 76
Chapter10 Spare Parts 77
10.1. Crawler 77
10.2. Crawler (Magnetic) 78
10.3. Kit Components 79
10.3.1. Power Cord Type 81
10.3.2. Detector Bracket Type 81
10.4. Backpack 83
10.5. Installation/Removal Mat 83
10.6. Cases 84
10.7. Accessories 85
10.7.1. Cable Management, Dovetail Mount 85

PAGE 1 of 89 EB0162 Rev 00
Chapter11 Disposal 86
Chapter12 Limited Warranty 87
Chapter13 Appendix 89
13.1. SKOOT•X Chain Configuration Setup Chart 89

PAGE 2 of 89
Chapter 1
IDENTIFICATION
1.1. Product Brand
The SKOOT  Xis a remotely operated vehicle suitable for driving on ferrous and non-
ferrous material. Its primary purpose is to perform inspections of assets such as pipes
or small vessels by moving a detector and source around a surface.
1.2. Manufacturer
1.3. Compliance Declarations
1.3.1. ISED Emissions Compliance (Canada)
CAN ICES-003(A) / NMB-003(A)
This Class A digital apparatus complies with Canadian ICES-003.
Cet appareil numérique de la classe A est conforme à la norme NMB-003 du Canada.
1.3.2. FCC Suppliers Declaration of Conformity (United States)
This device complies with Part 15 of the FCC Rules. Operation is subject to the
following two conditions: (1) this device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that
may cause undesired operation.
This equipment has been tested and found to comply with the limits for a Class
A digital device, pursuant to part 15 of the FCC Rules. These limits are designed
to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates,
uses, and can radiate radio frequency energy and, if not installed and used in
accordance with the instruction manual, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to
cause harmful interference in which case the user will be required to correct the
interference at his own expense.
Distributor:
Jireh Industries Ltd.
53158 Range Road 224
Ardrossan, Alberta T8E 2K4
Canada
Phone: [phone]
jireh.com
Manufacturer:

PAGE 3 of 89 EB0162 Rev 00
RESPONSIBLE PARTY NAME: Jireh Industries
ADDRESS: 2955 S Sam Houston Pkwy E
Suite 300
Houston, Texas
United States 77047
TELEPHONE: [phone]
1.3.3. European Union CE Declarations
Jireh Industries hereby declares that the SKOOT•X product
complies with the essential requirements and other relevant
provisions of the following European Union directives:
2014/30/EU EMC Directive
2014/35/EU Low Voltage Directive
2012/19/EU Directive on Waste Electrical and Electronic Equipment
2011/65/EU Directive on Restriction of Hazardous Substances (RoHS)
1.3.4. UKCA Declarations
Jireh Industries hereby declares that the SKOOT•X product
complies with the essential requirements and other relevant
provisions of the following UK directives.
Title Edition/Date of Issue
Electromagnetic Compatibility Regulations 2016
Electrical Equipment (Safety) Regulations 2016
Waste Electrical and Electronic Equipment Regulations 2013
Restriction of the Use of Certain Hazardous Substances
in Electrical and Electronic Equipment Regulations
2012

PAGE 4 of 89
Chapter 2
PRODUCT SPECIFICATIONS
2.1. Base SKOOT•X System
This section outlines the product specifications of the base system.
2.1.1. Intended Use
The SKOOT  X’s primary purpose is to perform inspections of assets such as
pipes, or small vessels by moving a detector and source around a surface. It is
intended for industrial use only.
2.1.1.1 Operating Limits
Category Parameter Specification
Inspection
Surface
Condition Clean, free of excess rust, scale, debris (i.e.
dirt, sand, etc.), ice, frost
Minimum OD 203 mm (8.0 in)
Maximum OD (Chain system) 1067 mm (42 in)
Maximum surface temperature 50°C (122°F)
Scanner Maximum umbilical length 30 m (100 ft)
Maximum source payload
(performance may vary with
surface conditions)
29 kg (65 lbs)
2.1.1.2 Operating Environment
The SKOOT•X is for use in dry industrial environments having ambient
temperatures shown below. It is NOT intended for use in explosive
environments.
Category Parameter Specification
Environment Minimum ambient
temperature
-20°C (-4°F)
Maximum ambient
temperature
50°C (122°F)

PAGE 5 of 89 EB0162 Rev 00
2.1.1.3 User
The SKOOT•X is intended to be used by persons who have read and
understand the user manual. The intended user is to be a person without
limitations in the physical abilities of the upper and lower limbs, sight, or
hearing.
2.1.2. Unintended Use
The SKOOT•X is NOT intended for:
►use outside of its intended use
►unattended use
►lifting / lowering objects or people (i.e. using the SKOOT • X as a crane /
elevator)
►driving into / over obstructions, excluding standard weld caps
►installation on a surface on which welding is actively occurring
2.1.3. Dimensions and Weight
1 Crawler width: 20.6 cm 8.1 in
2 Crawler depth: 26.2 cm 10.3 in
3 Crawler height: 14.7 cm 5.8 in
Crawler weight: 4.6 kg 10.1 lb
Fig. 1 - Crawler dimensions
3
1
2

PAGE 6 of 89
2.1.4. Power Requirements
Input Voltage: 25-45VDC
Input Power: 320 W
2.1.5. Environmental Sealing
Dust-tight, watertight (not submersible).
2.1.6. Performance Specifications
Category Parameter Specification
Crawler Maximum speed 7.4 cm/sec (2.9 in/sec)
Encoder resolution, idler 220.4 counts/mm (5,598.4
counts/in)
WARNING! A reliable power source must
be used to power the crawler. Connections must be
secured to prevent accidental disconnection. Power
failure may cause the crawler to freewheel down
when operating in a vertical orientation. Portable
generator usage is not recommended unless
accompanied by the use of an uninterruptible power
controller.
WARNING! Proper grounding of the power
controller is important for safe operation. When a
generator is used to supply power to the system (not
recommended), the generator must be properly
grounded (refer to generator manual).
CAUTION! DO NOT DISCONNECT UNDER
LOAD. Shut off power before connection or
disconnecting. Permanent damage to electronics
could occur.
CAUTION! Power must be supplied from an
approved JIREH power source.

PAGE 7 of 89 EB0162 Rev 00
2.1.7. Encoder Interface Specifications
Output type: 4 channel quadrature 5VDC RS422 compatible.
Power: Power must be supplied to the interface.
5VDC +/-10% power limited to < 15w.
2.2. Child Products
The products listed in this section integrate with the base system to perform certain
tasks. Their use may modify the product specifications (i.e. intended use, power
requirements, etc.) from those of the base system. These products have a user manual
of their own and shall be referred to for their product specifications as well as how
their use modifies the product specifications of the base system.
2.2.1. Battery Kit
DVG001-
The battery provides portable power to the crawler.
9Enc +5V
Enc A
Enc A’
Enc B
Enc B’
Enc Com
Aux Enc A’
Aux Enc B
Aux Enc B’
Shield
Aux Enc A
3
4
1
2
10
6
5
8
7
H
9
4
3
1
7
2
5
6
10
Fig. 2 - JIREH Industries pin out configuration

PAGE 8 of 89
Chapter 3
DEFINITIONS
3.1. Definition of Symbols
Instructions to ‘look here’ or to ‘see this part’.
Denotes movement. Instructing users to carry out an
action in a specified direction.
Indicates alignment axis.
Alerts the user that the view has changed to a reverse
angle.
3.2. Safety Symbols
The following safety symbols might appear on the product and in this document. Read
and understand their meaning below:
General warning
symbol
This symbol is used to alert the user to potential
hazards. All safety messages that follow this
symbol shall be obeyed to avoid possible harm or
material damage.
Shock hazard
caution symbol
This symbol is used to alert the user to potential
electric shock hazards. All safety messages
that follow this symbol shall be obeyed to avoid
possible harm.

PAGE 9 of 89 EB0162 Rev 00
3.3. Safety Signal Words
The following safety signal words might appear in this document. Read and
understand their meaning below:
DANGER!
The DANGER signal word indicates an imminently
hazardous situation. It calls attention to a procedure,
practice, or the like that if not correctly performed or
adhered to will result in death or serious personal injury.
Do not proceed beyond a DANGER signal word until the
indicated conditions are fully understood and met.
WARNING!
The WARNING signal word indicates a potentially
hazardous situation. It calls attention to a procedure,
practice, or the like that if not correctly performed or
adhered to could result in death or serious personal injury.
Do not proceed beyond a WARNING signal word until the
indicated conditions are fully understood and met.
CAUTION!
The CAUTION signal word indicates a potentially
hazardous situation. It calls attention to a procedure,
practice, or the like that if not correctly performed or
adhered to may result in minor or moderate personal
injury, material damage, particularly to the product,
destruction of part or all of the product, or loss of data.
Do not proceed beyond a CAUTION signal word until the
indicated conditions are fully understood and met.

PAGE 10 of 89
Chapter 4
SYSTEM COMPONENTS
4.1. Component Identification
4.1.1. Base System
Fig. 3 - SKOOT• X crawler (chain system)
EBA005
Fig. 4 - SKOOT• X crawler (magnetic system)
EBA011
Fig. 5 - Detector bracket
EBA001-
Fig. 6 - Source cart
EBA009
Fig. 7 - Handheld controller
DMA006
Fig. 8 - Power controller
CXA040-
Fig. 9 - Auxiliary cable
UMA017-
Fig. 10 - Umbilical
UMA022-
Fig. 11 - Cable management
CES044-
Fig. 12 - Chain link
EES004
Fig. 13 - Red dovetail link
EES011
Fig. 14 - Buckle
EBS042-

PAGE 11 of 89 EB0162 Rev 00
4.1.2. Child Products
Fig. 15 - 3 mm hex wrench
EA414
Fig. 16 - Installation/removal mat
AAS061
Fig. 17 - SKOOT•X crawler case
EBA007
Fig. 18 - SKOOT•X case
EBA010
Fig. 19 - SKOOT•X case
EA421
Fig. 20 - Battery Kit
DVG001-

PAGE 12 of 89
4.2. Tools
4.2.1. Included Tools
The included 3 mm hex driver (Fig. 21) is suitable
for typical SKOOT  X adjustments.
4.3. Base System Components
4.3.1. Crawler - Chain System
The crawler includes the
motor encoder, umbilical
connections and accessory
mounting point. The crawler is
axed with chain connection
points and non-magnetic
wheels.
Fig. 21 - 3 mm hex driver
Fig. 22 - Crawler (chain)

PAGE 13 of 89 EB0162 Rev 00
4.3.2. Crawler - Magnetic System
The crawler includes the
motor encoder, umbilical
connections and accessory
mounting point. The crawler
includes magnetic wheels.
WARNING! MAGNETIC MATERIAL. The
wheels of the crawler produce an extremely strong
magnetic eld which may cause failure or permanent
damage to items such as watches, memory devices,
CRT monitors, medical devices or other electronics.
People with pacemakers or ICD’s must stay at least
25 cm (10 in) away.
Fig. 23 - Crawler (magnetic)